tieugiang91 commented 3 years ago

I'm trying to apply Micro-XRCE-DDS on a NodeMCU board with ESP8266 microprocessor. The IDE is Visual Studio Code with PlatformIO plugin, Arduino is used for Wifi connection. Micro-XRCE-DDS library is also included. However, there are errors in udp_transport_posix.h at:

include <sys/socket.h>

include

It seems that the 2 libraries is are Linux only, not on arduinoespressif8266. Is there any customization or configuration that I can do to make it work on that specific board, please?

pablogs9 commented 3 years ago

Hello @tieugiang91,

Some points:

Notice that you also have a polling free UDP transport have you tried to use it?
Are you using a bare XRCE-DDS application for some reason? Have you considered micro-ROS?
If you find problems using the default transports, notice that we have in develop branch a new feature for creating custom transports, so you only need to write four callbacks and bind them at runtime. You have a preliminary version of the documentation here

Please try to use the polling-less transports, and if it does not fit your requirements, we can talk here about how to use custom transports.

It would be super nice to have some explanations and steps on how to replicate your use case.

tieugiang91 commented 3 years ago

Thank you for the answer.

I'm using a bare XRCE-DDS application without micro-ROS since micro-ROS supports ESP32 while mine is NodeMCU ESP8266. I'm not quite sure that would be compatible.
The use case is not complicating. It's just flashing "hello world" to the NodeMCU board. Steps are listed below:
1. Create a PlatformIO project with Arduino framework and NodeMCU 12-E
2. Copy the folders "ucdr" and "uxr" from "/usr/local/include" to the include folder of the project. (Linking to the "/usr/local/include" in project configuration also leads to the same result)
3. Copy Hello world source code from example to the "src" folder of the project. Then the project cannot be built as <sys/socket.h> and cannot be found. Even if I tried to add the link to "/usr/include/sys", it also returns errors kind of "unknown type name size_t", etc.
4. In project configurations: build_flags = -I/usr/local/include -L/usr/local/lib -lmicrocdr -lmicroxrcedds_client has been added. Still, that doesn't help.

pablogs9 commented 3 years ago

In which point you are building the XRCE-DDS Client library?

tieugiang91 commented 3 years ago

I built it in /home/username/Micro-XRCE-DDS-Client directory.

pablogs9 commented 3 years ago

But how are you building the library?

tieugiang91 commented 3 years ago

I cloned it from Github and followed the instructions in the documentation at: https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html#installing-the-client-stand-alone Ah, okie, sorry for misunderstanding your point. The Hello world source code is the code from PublishHelloWorld folder in the xrcedds examples. In main.c, uxr/client/client.h is included, at step 3.

pablogs9 commented 3 years ago

But you are building the XRCE-DDS Client library for your computer, it is not being cross-compiled for ESP8266, are you aware of that?

tieugiang91 commented 3 years ago

Ah, thank you, I've got the point, let me try it then.

tieugiang91 commented 3 years ago

@pablogs9, udp_transport_posix_nopoll was used and there's no more trouble with . However, some dependencies such as <sys/socket.h> and in udp_transport_posix_nopool.c, ip_posix.c, etc. seems still not to be recognized. Are there any ways to work around this, please?

pablogs9 commented 3 years ago

Could you please provide some steps for reproducing your scenario and use case?

tieugiang91 commented 3 years ago

I created a PIO project, copied both built header and source code of xrcedds library into the "lib" folder, disabled (by comment) posix poll and windows code.

pablogs9 commented 3 years ago

I guess that you should be cross-compiling the library using CMake and a CMake toolchain. Once you have a static library (.a) you should link your app against it.

tieugiang91 commented 3 years ago

Oh, that's it. Thank you, let me try it then.

tieugiang91 commented 3 years ago

@pablogs9 After using Cmake and CMake toolchain to build the library, I got the error:

set_target_properties called with incorrect number of arguments.

Adding "" as:


set_target_properties(${PROJECT_NAME} PROPERTIES
    VERSION
        "${PROJECT_VERSION}"
    SOVERSION
        "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}"
    C_STANDARD
        99
    C_STANDARD_REQUIRED
        YES
    POSITION_INDEPENDENT_CODE
        "${UCLIENT_PIC}"
    )
at line 270 CMakeList.txt fixed the problem but led to the next error:
CMake Error at /usr/share/cmake-3.16/Modules/WriteBasicConfigVersionFile.cmake:43 (message):
  No VERSION specified for WRITE_BASIC_CONFIG_VERSION_FILE()
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/CMakePackageConfigHelpers.cmake:225 (write_basic_config_version_file)
  CMakeLists.txt:461 (write_basic_package_version_file)

Steps to reproduce:

Install RTOS ESP8266 SDK
Add include($ENV{IDF_PATH}/tools/cmake/project.cmake) to the CMakeList.txt of Micro-XRCE-DDS-Client project
Add toolchain file into the toolchains folder.


> include(CMakeForceCompiler)

> set(CMAKE_SYSTEM_NAME Generic)
> set(PLATFORM_NAME "FreeRTOS_Plus_TCP")
> set(CMAKE_CROSSCOMPILING True)

> set(CMAKE_C_COMPILER xtensa-lx106-elf-gcc)
> set(CMAKE_CXX_COMPILER xtensa-lx106-elf-g++)
> set(CMAKE_ASM_COMPILER xtensa-lx106-elf-gcc)

> set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
> set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
> set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
> set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

Run cmake command: cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/esp8266_toolchain.cmake .. Things went well.
The error occurred after "make" command

May you kindly suggest a solution please?

pablogs9 commented 3 years ago

Can you paste here the error that appears when make is invoked?

Run cmake command: cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/esp8266_toolchain.cmake .. Things went well.

The error pasted in your last comment is a CMake error but you say that the CMake step went well.

tieugiang91 commented 3 years ago

Sorry for the unclear description. The CMake error occured after the "make" command, not the CMake command as images below.

pablogs9 commented 3 years ago

Could you please copy-paste that text instead of screenshotting?

tieugiang91 commented 3 years ago

The result of:

cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/esp8266_toolchain.cmake ..

is:

-- Found Git: /usr/bin/git (found version "2.25.1") 
-- IDF_TARGET not set, using default target: esp8266
-- The C compiler identification is GNU 8.4.0
-- The CXX compiler identification is GNU 8.4.0
-- The ASM compiler identification is GNU
-- Found assembler: /home/tyna/esp/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc
-- Check for working C compiler: /home/tyna/esp/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc
-- Check for working C compiler: /home/tyna/esp/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /home/tyna/esp/xtensa-lx106-elf/bin/xtensa-lx106-elf-g++
-- Check for working CXX compiler: /home/tyna/esp/xtensa-lx106-elf/bin/xtensa-lx106-elf-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Project version: v2.0.0-dirty
-- Building ESP-IDF components for target esp8266
-- Checking Python dependencies...
Python requirements from /home/tyna/esp/ESP8266_RTOS_SDK/requirements.txt are satisfied.
-- Found PythonInterp: /usr/bin/python (found version "3.8.5") 
-- Found Perl: /usr/bin/perl (found version "5.30.0") 
-- Adding linker script /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/build/esp-idf/esp8266/esp8266_out.ld
-- Adding linker script /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266/ld/esp8266.project.ld.in
-- Adding linker script /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266/ld/esp8266.rom.ld
-- Adding linker script /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266/ld/esp8266.peripherals.ld
-- Components: app_update bootloader bootloader_support coap console esp-tls esp-wolfssl esp8266 esp_common esp_event esp_gdbstub esp_http_client esp_http_server esp_https_ota esp_ringbuf esptool_py fatfs freemodbus freertos heap http_parser jsmn json libsodium log lwip mbedtls mdns mqtt newlib nvs_flash openssl partition_table protobuf-c protocomm pthread spi_flash spi_ram spiffs tcp_transport tcpip_adapter vfs wear_levelling wifi_provisioning wpa_supplicant
-- Component paths: /home/tyna/esp/ESP8266_RTOS_SDK/components/app_update /home/tyna/esp/ESP8266_RTOS_SDK/components/bootloader /home/tyna/esp/ESP8266_RTOS_SDK/components/bootloader_support /home/tyna/esp/ESP8266_RTOS_SDK/components/coap /home/tyna/esp/ESP8266_RTOS_SDK/components/console /home/tyna/esp/ESP8266_RTOS_SDK/components/esp-tls /home/tyna/esp/ESP8266_RTOS_SDK/components/esp-wolfssl /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266 /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_common /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_event /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_gdbstub /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_http_client /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_http_server /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_https_ota /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_ringbuf /home/tyna/esp/ESP8266_RTOS_SDK/components/esptool_py /home/tyna/esp/ESP8266_RTOS_SDK/components/fatfs /home/tyna/esp/ESP8266_RTOS_SDK/components/freemodbus /home/tyna/esp/ESP8266_RTOS_SDK/components/freertos /home/tyna/esp/ESP8266_RTOS_SDK/components/heap /home/tyna/esp/ESP8266_RTOS_SDK/components/http_parser /home/tyna/esp/ESP8266_RTOS_SDK/components/jsmn /home/tyna/esp/ESP8266_RTOS_SDK/components/json /home/tyna/esp/ESP8266_RTOS_SDK/components/libsodium /home/tyna/esp/ESP8266_RTOS_SDK/components/log /home/tyna/esp/ESP8266_RTOS_SDK/components/lwip /home/tyna/esp/ESP8266_RTOS_SDK/components/mbedtls /home/tyna/esp/ESP8266_RTOS_SDK/components/mdns /home/tyna/esp/ESP8266_RTOS_SDK/components/mqtt /home/tyna/esp/ESP8266_RTOS_SDK/components/newlib /home/tyna/esp/ESP8266_RTOS_SDK/components/nvs_flash /home/tyna/esp/ESP8266_RTOS_SDK/components/openssl /home/tyna/esp/ESP8266_RTOS_SDK/components/partition_table /home/tyna/esp/ESP8266_RTOS_SDK/components/protobuf-c /home/tyna/esp/ESP8266_RTOS_SDK/components/protocomm /home/tyna/esp/ESP8266_RTOS_SDK/components/pthread /home/tyna/esp/ESP8266_RTOS_SDK/components/spi_flash /home/tyna/esp/ESP8266_RTOS_SDK/components/spi_ram /home/tyna/esp/ESP8266_RTOS_SDK/components/spiffs /home/tyna/esp/ESP8266_RTOS_SDK/components/tcp_transport /home/tyna/esp/ESP8266_RTOS_SDK/components/tcpip_adapter /home/tyna/esp/ESP8266_RTOS_SDK/components/vfs /home/tyna/esp/ESP8266_RTOS_SDK/components/wear_levelling /home/tyna/esp/ESP8266_RTOS_SDK/components/wifi_provisioning /home/tyna/esp/ESP8266_RTOS_SDK/components/wpa_supplicant
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/build

And the result of

make

is:

Scanning dependencies of target uclient
[  0%] Creating directories for 'uclient'
[  0%] No download step for 'uclient'
[  0%] No patch step for 'uclient'
[  1%] No update step for 'uclient'
[  1%] Performing configure step for 'uclient'
loading initial cache file /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/build/uclient-prefix/tmp/uclient-cache-.cmake
-- Project version: v2.0.0-dirty
-- Building ESP-IDF components for target esp8266
-- Checking Python dependencies...
Python requirements from /home/tyna/esp/ESP8266_RTOS_SDK/requirements.txt are satisfied.
-- Adding linker script /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/build/esp-idf/esp8266/esp8266_out.ld
-- Adding linker script /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266/ld/esp8266.project.ld.in
-- Adding linker script /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266/ld/esp8266.rom.ld
-- Adding linker script /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266/ld/esp8266.peripherals.ld
-- Components: app_update bootloader bootloader_support coap console esp-tls esp-wolfssl esp8266 esp_common esp_event esp_gdbstub esp_http_client esp_http_server esp_https_ota esp_ringbuf esptool_py fatfs freemodbus freertos heap http_parser jsmn json libsodium log lwip mbedtls mdns mqtt newlib nvs_flash openssl partition_table protobuf-c protocomm pthread spi_flash spi_ram spiffs tcp_transport tcpip_adapter vfs wear_levelling wifi_provisioning wpa_supplicant
-- Component paths: /home/tyna/esp/ESP8266_RTOS_SDK/components/app_update /home/tyna/esp/ESP8266_RTOS_SDK/components/bootloader /home/tyna/esp/ESP8266_RTOS_SDK/components/bootloader_support /home/tyna/esp/ESP8266_RTOS_SDK/components/coap /home/tyna/esp/ESP8266_RTOS_SDK/components/console /home/tyna/esp/ESP8266_RTOS_SDK/components/esp-tls /home/tyna/esp/ESP8266_RTOS_SDK/components/esp-wolfssl /home/tyna/esp/ESP8266_RTOS_SDK/components/esp8266 /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_common /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_event /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_gdbstub /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_http_client /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_http_server /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_https_ota /home/tyna/esp/ESP8266_RTOS_SDK/components/esp_ringbuf /home/tyna/esp/ESP8266_RTOS_SDK/components/esptool_py /home/tyna/esp/ESP8266_RTOS_SDK/components/fatfs /home/tyna/esp/ESP8266_RTOS_SDK/components/freemodbus /home/tyna/esp/ESP8266_RTOS_SDK/components/freertos /home/tyna/esp/ESP8266_RTOS_SDK/components/heap /home/tyna/esp/ESP8266_RTOS_SDK/components/http_parser /home/tyna/esp/ESP8266_RTOS_SDK/components/jsmn /home/tyna/esp/ESP8266_RTOS_SDK/components/json /home/tyna/esp/ESP8266_RTOS_SDK/components/libsodium /home/tyna/esp/ESP8266_RTOS_SDK/components/log /home/tyna/esp/ESP8266_RTOS_SDK/components/lwip /home/tyna/esp/ESP8266_RTOS_SDK/components/mbedtls /home/tyna/esp/ESP8266_RTOS_SDK/components/mdns /home/tyna/esp/ESP8266_RTOS_SDK/components/mqtt /home/tyna/esp/ESP8266_RTOS_SDK/components/newlib /home/tyna/esp/ESP8266_RTOS_SDK/components/nvs_flash /home/tyna/esp/ESP8266_RTOS_SDK/components/openssl /home/tyna/esp/ESP8266_RTOS_SDK/components/partition_table /home/tyna/esp/ESP8266_RTOS_SDK/components/protobuf-c /home/tyna/esp/ESP8266_RTOS_SDK/components/protocomm /home/tyna/esp/ESP8266_RTOS_SDK/components/pthread /home/tyna/esp/ESP8266_RTOS_SDK/components/spi_flash /home/tyna/esp/ESP8266_RTOS_SDK/components/spi_ram /home/tyna/esp/ESP8266_RTOS_SDK/components/spiffs /home/tyna/esp/ESP8266_RTOS_SDK/components/tcp_transport /home/tyna/esp/ESP8266_RTOS_SDK/components/tcpip_adapter /home/tyna/esp/ESP8266_RTOS_SDK/components/vfs /home/tyna/esp/ESP8266_RTOS_SDK/components/wear_levelling /home/tyna/esp/ESP8266_RTOS_SDK/components/wifi_provisioning /home/tyna/esp/ESP8266_RTOS_SDK/components/wpa_supplicant
-- Setting build type to 'Release' as none was specified.
CMake Error at /usr/share/cmake-3.16/Modules/WriteBasicConfigVersionFile.cmake:43 (message):
  No VERSION specified for WRITE_BASIC_CONFIG_VERSION_FILE()
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/CMakePackageConfigHelpers.cmake:225 (write_basic_config_version_file)
  CMakeLists.txt:461 (write_basic_package_version_file)

-- Configuring incomplete, errors occurred!
See also "/home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/build/CMakeFiles/CMakeOutput.log".
make[2]: *** [CMakeFiles/uclient.dir/build.make:107: uclient-prefix/src/uclient-stamp/uclient-configure] Error 1
make[1]: *** [CMakeFiles/Makefile2:1165: CMakeFiles/uclient.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

pablogs9 commented 3 years ago

Try with cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/esp8266_toolchain.cmake -DUCLIENT_SUPERBUILD=OFF ..

pablogs9 commented 3 years ago

You will need to build separately Micro CDR and Micro XRCE-DDS Client and probably use the include folder of the CDR for the XRCE-DDS Client build.

tieugiang91 commented 3 years ago

cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/esp8266_toolchain.cmake -DUCLIENT_SUPERBUILD=OFF ..

gives the same error.

pablogs9 commented 3 years ago

I have done this:

mkdir my_project && cd my_project
export ROOT=$(pwd)

wget https://dl.espressif.com/dl/xtensa-lx106-elf-gcc8_4_0-esp-2020r3-linux-amd64.tar.gz # From here: https://docs.espressif.com/projects/esp8266-rtos-sdk/en/latest/get-started/linux-setup.html
tar -xzf xtensa-lx106-elf-gcc8_4_0-esp-2020r3-linux-amd64.tar.gz

cd $ROOT
git clone -b v1.2.1 https://github.com/eProsima/Micro-CDR
cd Micro-CDR
mkdir build && cd build
cmake -DCMAKE_TOOLCHAIN_FILE=$ROOT/toolchain.cmake -DCMAKE_INSTALL_PREFIX=$ROOT/install ..
make
make install

cd $ROOT
git clone -b master https://github.com/eProsima/Micro-XRCE-DDS-Client
cd Micro-XRCE-DDS-Client
mkdir build && cd build
cmake -DCMAKE_TOOLCHAIN_FILE=$ROOT/toolchain.cmake -DUCLIENT_SUPERBUILD=OFF -DCMAKE_PREFIX_PATH=$ROOT/install -DCMAKE_INSTALL_PREFIX=$ROOT/install .. 
make 
make install

This should give an error because of FreeRTOS includes that should be added to the toolchain.

The toolchain.cmake is:

include(CMakeForceCompiler)
set(CMAKE_SYSTEM_NAME Generic)
set(PLATFORM_NAME "FreeRTOS_Plus_TCP")
set(CMAKE_CROSSCOMPILING True)

SET (CMAKE_C_COMPILER_WORKS 1)
SET (CMAKE_CXX_COMPILER_WORKS 1)

set(CMAKE_C_COMPILER $ENV{ROOT}/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc)
set(CMAKE_CXX_COMPILER $ENV{ROOT}/xtensa-lx106-elf/bin/xtensa-lx106-elf-g++)
set(CMAKE_ASM_COMPILER $ENV{ROOT}/xtensa-lx106-elf/bin/xtensa-lx106-elf-gcc)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
include_directories(SYSTEM 
// Fill here your FreeRTOS includes
)

tieugiang91 commented 3 years ago

Thank you for the reply. The problem is I also don't know the correct way to include ESP8266 RTOS SDK library without including the default project.cmake as in the hello-world template at https://github.com/espressif/ESP8266_RTOS_SDK/tree/master/examples/get-started/hello_world It seems that FreeRTOS should be cross-compiled again for the NodeMCU board, doesn't it?

tieugiang91 commented 3 years ago

After manually including FreeRTOS libraries and headers and following the steps above, I still got the following errors while buiding with CMake:

Scanning dependencies of target microxrcedds_client
[  3%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_best_effort_stream.c.obj
[  6%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_reliable_stream.c.obj
[  9%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_best_effort_stream.c.obj
[ 12%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_reliable_stream.c.obj
[ 15%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_storage.c.obj
[ 18%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_id.c.obj
[ 21%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/seq_num.c.obj
[ 25%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session.c.obj
[ 28%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session_info.c.obj
[ 31%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/submessage.c.obj
[ 34%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/object_id.c.obj
[ 37%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_types.c.obj
[ 40%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_header.c.obj
[ 43%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_subheader.c.obj
[ 46%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/time.c.obj
[ 50%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/ping.c.obj
In file included from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/include/uxr/client/transport.h:43,
                 from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/include/uxr/client/util/ping.h:24,
                 from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/src/c/util/ping.c:1:
/home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/ip/tcp/tcp_transport.h:51:27: error: field 'platform' has incomplete type
     struct uxrTCPPlatform platform;
                           ^~~~~~~~
In file included from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/include/uxr/client/transport.h:52,
                 from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/include/uxr/client/util/ping.h:24,
                 from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/src/c/util/ping.c:1:
/home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport.h:35:30: error: field 'platform' has incomplete type
     struct uxrSerialPlatform platform;
                              ^~~~~~~~
make[2]: *** [CMakeFiles/microxrcedds_client.dir/build.make:258: CMakeFiles/microxrcedds_client.dir/src/c/util/ping.c.obj] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/microxrcedds_client.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

The toolchain file is:

include(CMakeForceCompiler)

set(CMAKE_SYSTEM_NAME Generic)
set(PLATFORM_NAME "FreeRTOS_Plus_TCP")
set(CMAKE_CROSSCOMPILING True)

set(CMAKE_C_COMPILER xtensa-lx106-elf-gcc)
set(CMAKE_CXX_COMPILER xtensa-lx106-elf-g++)
set(CMAKE_ASM_COMPILER xtensa-lx106-elf-gcc)

set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

set(FREE_RTOS_DIR $ENV{IDF_PATH}/components/freertos)
set(ESP8266_DIR $ENV{IDF_PATH}/components/esp8266)
include_directories(SYSTEM
    ${FREE_RTOS_DIR}/include
    ${FREE_RTOS_DIR}/include/freertos
    ${FREE_RTOS_DIR}/include/freertos/private
    ${FREE_RTOS_DIR}/port/esp8266/include
    ${FREE_RTOS_DIR}/port/esp8266/include/freertos
    $ENV{IDF_PATH}/components/heap/include
    $ENV{IDF_PATH}/components/heap/port/esp8266/include
    ${ESP8266_DIR}/include
    $ENV{IDF_PATH}/components/esp_common/include
    $ENV{HOME}/Data110220/Ubuntu/Makino/ESP8266/FreeRTOSv202012.00/FreeRTOS-Plus/Source/FreeRTOS-Plus-TCP/include
    $ENV{HOME}/Data110220/Ubuntu/Makino/ESP8266/FreeRTOSv202012.00/FreeRTOS-Plus/Source/FreeRTOS-Plus-TCP/portable/Compiler/GCC
)

May you point out what's wrong with the compilation please?

pablogs9 commented 3 years ago

Have you disabled TCP and serial profiles if you are not going to use them?

https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/69134a9ba97f98f3cfad1588af816a6a22133116/CMakeLists.txt#L47

tieugiang91 commented 3 years ago

After disabling it gave the next error:

Scanning dependencies of target microxrcedds_client
[  3%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_best_effort_stream.c.obj
[  6%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_reliable_stream.c.obj
[ 10%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_best_effort_stream.c.obj
[ 13%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_reliable_stream.c.obj
[ 17%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_storage.c.obj
[ 20%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_id.c.obj
[ 24%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/seq_num.c.obj
[ 27%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session.c.obj
[ 31%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session_info.c.obj
[ 34%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/submessage.c.obj
[ 37%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/object_id.c.obj
[ 41%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_types.c.obj
[ 44%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_header.c.obj
[ 48%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_subheader.c.obj
[ 51%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/time.c.obj
[ 55%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/ping.c.obj
[ 58%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/common_create_entities.c.obj
[ 62%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_ref.c.obj
[ 65%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_xml.c.obj
[ 68%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/read_access.c.obj
[ 72%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/write_access.c.obj
[ 75%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/stream_framing/stream_framing_protocol.c.obj
[ 79%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport.c.obj
[ 82%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.c.obj
[ 86%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/ip_freertos_plus_tcp.c.obj
In file included from /home/tyna/Data110220/Ubuntu/Makino/DDS/xrcedds/Micro-XRCE-DDS-Client/src/c/profile/transport/ip/ip_freertos_plus_tcp.c:19:
/home/tyna/Data110220/Ubuntu/Makino/ESP8266/FreeRTOSv202012.00/FreeRTOS-Plus/Source/FreeRTOS-Plus-TCP/include/FreeRTOS_Sockets.h:222:12: error: unknown type name 'portINLINE'
     static portINLINE BaseType_t xSocketValid( Socket_t xSocket )
            ^~~~~~~~~~
/home/tyna/Data110220/Ubuntu/Makino/ESP8266/FreeRTOSv202012.00/FreeRTOS-Plus/Source/FreeRTOS-Plus-TCP/include/FreeRTOS_Sockets.h:222:34: error: expected '=', ',', ';', 'asm' or '__attribute__' before 'xSocketValid'
     static portINLINE BaseType_t xSocketValid( Socket_t xSocket )
                                  ^~~~~~~~~~~~
make[2]: *** [CMakeFiles/microxrcedds_client.dir/build.make:375: CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/ip_freertos_plus_tcp.c.obj] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/microxrcedds_client.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

pablogs9 commented 3 years ago

You need to include the header where those objects are defined in your FreeRTOS installation.

tieugiang91 commented 3 years ago

After including the headers, it still gave the following errors:

Scanning dependencies of target microxrcedds_client
[  3%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_best_effort_stream.c.obj
[  6%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/input_reliable_stream.c.obj
[ 10%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_best_effort_stream.c.obj
[ 13%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/output_reliable_stream.c.obj
[ 17%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_storage.c.obj
[ 20%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/stream_id.c.obj
[ 24%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/stream/seq_num.c.obj
[ 27%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session.c.obj
[ 31%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/session_info.c.obj
[ 34%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/submessage.c.obj
[ 37%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/object_id.c.obj
[ 41%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_types.c.obj
[ 44%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_header.c.obj
[ 48%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/serialization/xrce_subheader.c.obj
[ 51%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/time.c.obj
[ 55%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/util/ping.c.obj
[ 58%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/common_create_entities.c.obj
[ 62%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_ref.c.obj
[ 65%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/create_entities_xml.c.obj
[ 68%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/read_access.c.obj
[ 72%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/core/session/write_access.c.obj
[ 75%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/stream_framing/stream_framing_protocol.c.obj
[ 79%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport.c.obj
[ 82%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.c.obj
[ 86%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/transport/ip/ip_freertos_plus_tcp.c.obj
[ 89%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/discovery/discovery.c.obj
[ 93%] Building C object CMakeFiles/microxrcedds_client.dir/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c.obj
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c: In function 'uxr_init_udp_transport_datagram':
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:29:14: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'fd'
     transport->fd = FreeRTOS_socket(FREERTOS_AF_INET, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP);
              ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:31:45: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'fd'
     if (FREERTOS_INVALID_SOCKET != transport->fd)
                                             ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:33:18: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'poll_fd'
         transport->poll_fd = FreeRTOS_CreateSocketSet();
                  ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:35:30: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'poll_fd'
         if (NULL != transport->poll_fd)
                              ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:38:38: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'fd'
             FreeRTOS_FD_SET(transport->fd, transport->poll_fd, eSELECT_READ);
                                      ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:38:53: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'poll_fd'
             FreeRTOS_FD_SET(transport->fd, transport->poll_fd, eSELECT_READ);
                                                     ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c: In function 'uxr_close_udp_transport_datagram':
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:50:42: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'fd'
     (void) FreeRTOS_closesocket(transport->fd);
                                          ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c: In function 'uxr_udp_send_datagram_to':
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:68:32: warning: implicit declaration of function 'FreeRTOS_htons'; did you mean 'FreeRTOS_mss'? [-Wimplicit-function-declaration]
         remote_addr.sin_port = FreeRTOS_htons(locator->_.medium_locator.locator_port);
                                ^~~~~~~~~~~~~~
                                FreeRTOS_mss
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:68:32: warning: conversion from 'int' to 'uint16_t' {aka 'short unsigned int'} may change value [-Wconversion]
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:70:55: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'fd'
         int32_t bytes_sent = FreeRTOS_sendto(transport->fd, (void*)buf, len, 0,
                                                       ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c: In function 'uxr_udp_recv_datagram':
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:91:51: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'poll_fd'
     BaseType_t poll_rv = FreeRTOS_select(transport->poll_fd, pdMS_TO_TICKS(timeout));
                                                   ^~
/home/tyna/DDS/Micro-XRCE-DDS-Client/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c:94:61: error: 'uxrUDPTransportDatagram' {aka 'struct uxrUDPTransportDatagram'} has no member named 'fd'
         int32_t bytes_received = FreeRTOS_recvfrom(transport->fd, (void*)transport->buffer, sizeof(transport->buffer),
                                                             ^~
make[2]: *** [CMakeFiles/microxrcedds_client.dir/build.make:401: CMakeFiles/microxrcedds_client.dir/src/c/profile/discovery/transport/udp_transport_datagram_freertos_plus_tcp.c.obj] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/microxrcedds_client.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

The config.h is generated as:

//    Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
//    Licensed under the Apache License, Version 2.0 (the "License");
//    you may not use this file except in compliance with the License.
//    You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
//    Unless required by applicable law or agreed to in writing, software
//    distributed under the License is distributed on an "AS IS" BASIS,
//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
//    See the License for the specific language governing permissions and
//    limitations under the License.

#ifndef _UXR_CLIENT_CONFIG_H_
#define _UXR_CLIENT_CONFIG_H_

#define UXR_CLIENT_VERSION_MAJOR 2
#define UXR_CLIENT_VERSION_MINOR 0
#define UXR_CLIENT_VERSION_MICRO 0
#define UXR_CLIENT_VERSION_STR "2.0.0"

#define UCLIENT_PROFILE_DISCOVERY

#define UCLIENT_PROFILE_UDP
/* #undef UCLIENT_PROFILE_TCP */
/* #undef UCLIENT_PROFILE_SERIAL */
#define UCLIENT_PROFILE_CUSTOM_TRANSPORT

/* #undef UCLIENT_PLATFORM_POSIX */
/* #undef UCLIENT_PLATFORM_POSIX_NOPOLL */
/* #undef UCLIENT_PLATFORM_WINDOWS */
#define UCLIENT_PLATFORM_FREERTOS_PLUS_TCP
/* #undef UCLIENT_PLATFORM_ZEPHYR */

/* #undef UCLIENT_EXTERNAL_TCP */
/* #undef UCLIENT_EXTERNAL_UDP */
/* #undef UCLIENT_EXTERNAL_SERIAL */

#define UXR_CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS     1
#define UXR_CONFIG_MAX_OUTPUT_RELIABLE_STREAMS        1
#define UXR_CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS      1
#define UXR_CONFIG_MAX_INPUT_RELIABLE_STREAMS         1

#define UXR_CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS    10
#define UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL    1000
#define UXR_CONFIG_MIN_HEARTBEAT_TIME_INTERVAL        1

#ifdef UCLIENT_PROFILE_UDP
#define UXR_CONFIG_UDP_TRANSPORT_MTU                  512
#endif
#ifdef UCLIENT_PROFILE_TCP
#define UXR_CONFIG_TCP_TRANSPORT_MTU                  512
#endif
#ifdef UCLIENT_PROFILE_SERIAL
#define UXR_CONFIG_SERIAL_TRANSPORT_MTU               512
#endif
#ifdef UCLIENT_PROFILE_CUSTOM_TRANSPORT
#define UXR_CONFIG_CUSTOM_TRANSPORT_MTU                  512
#endif

#endif // _UXR_CLIENT_CONFIG_H_

pablogs9 commented 3 years ago

That's our fault. Solved here: https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/239. Try again when https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/239 merged.

pablogs9 commented 3 years ago

https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/239 merged, try it now

tieugiang91 commented 3 years ago

Thank you, the fix works well. The rest seems again my header trouble errors, I'll try to fix it then update later.

tieugiang91 commented 3 years ago

Thank you for the support. Finally, the libmicroxrcedds_client.a has been built. I leave the CMakeList.txt of the example project SubscribeHelloWorld unchanged and compile with:

cmake -DCMAKE_TOOLCHAIN_FILE=$TOOLCHAIN_PATH/esp8266_toolchain.cmake -DCMAKE_PREFIX_PATH=$ROOT/install -DCMAKE_INSTALL_PREFIX=$ROOT/install -DUCLIENT_PROFILE_UDP=ON ..

then it gave the linking errors after the "make" command:

Scanning dependencies of target SubscribeHelloWorldClient
[ 33%] Building C object CMakeFiles/SubscribeHelloWorldClient.dir/main.c.obj
[ 66%] Building C object CMakeFiles/SubscribeHelloWorldClient.dir/HelloWorld.c.obj
[100%] Linking C executable SubscribeHelloWorldClient
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-stdio.o):(.literal.__sclose+0x0): warning: _close_r is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-makebuf.o):(.literal.__swhatbuf_r+0x8): warning: _fstat_r is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-stdio.o):(.literal.__swrite+0x4): warning: _lseek_r is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-stdio.o):(.literal.__sread+0x4): warning: _read_r is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-stdio.o):(.literal.__swrite+0x8): warning: _write_r is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-puts.o):(.literal._puts_r+0x24): warning: pthread_setcancelstate is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/lib/libc.a(lib_a-printf.o):(.literal.printf+0x0): warning: __getreent is not implemented and will always fail
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(time.c.obj):(.literal.uxr_nanos+0x0): undefined reference to `vTaskSetTimeOutState'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_init_udp_platform+0x4): undefined reference to `FreeRTOS_socket'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_init_udp_platform+0x8): undefined reference to `FreeRTOS_inet_addr'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_init_udp_platform+0xc): undefined reference to `FreeRTOS_CreateSocketSet'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_init_udp_platform+0x10): undefined reference to `FreeRTOS_FD_SET'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_close_udp_platform+0x0): undefined reference to `FreeRTOS_closesocket'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_write_udp_data_platform+0x0): undefined reference to `FreeRTOS_sendto'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_read_udp_data_platform+0x4): undefined reference to `FreeRTOS_select'
/home/tyna/esp/xtensa-lx106-elf/bin/../lib/gcc/xtensa-lx106-elf/8.4.0/../../../../xtensa-lx106-elf/bin/ld: /home/tyna/DDS/install/lib/libmicroxrcedds_client.a(udp_transport_freertos_plus_tcp.c.obj):(.literal.uxr_read_udp_data_platform+0x8): undefined reference to `FreeRTOS_recvfrom'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/SubscribeHelloWorldClient.dir/build.make:101: SubscribeHelloWorldClient] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/SubscribeHelloWorldClient.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

Are there any wrong configurations, please?

pablogs9 commented 3 years ago

You are not linking against your FreeRTOS libraries, I guess that this is not related to micro-ROS

eProsima / Micro-XRCE-DDS-Client

Micro-XRCE-DDS on ESP8266 using PlatformIO + Arduino library #208

include <sys/socket.h>

include